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Low Power Microrobotics Utilizing Biologically Inspired Energy Generation

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Low Power Microrobotics Utilizing Biologically Inspired Energy Generation Low Power Microrobotics Utilizing Biologically Inspired Energy Generation October 1, 2011 through September 31, 2012 Principal Investigator: Gregory P. Scott, Ph.D. Co-Investigator: Leonard Tender, Ph.D. Co-Investigator: Stephen Arnold, D.Sc. Response to NASA Solicitation Number: NNH11ZUA001N Award Date: August 10, 2011 Awarded by: NASA OCT, Early Stage Innovation Division Low Power Microrobotics Utilizing Biologically Inspired Energy Generation This page intentionally left blank. Under review for public release by NRL Do not redistributed without consent of Gregory P. Scott ii Low Power Microrobotics Utilizing Biologically Inspired Energy Generation Abstract The Low Power Microrobotics (LPM) project is a NASA NIAC-funded multi-disciplinary research effort involving the research and advancement of low power electronics, low power mobility and their integration with state of the art microbial fuel cell for power generation. The goal of this project was to advance the capabilities of each of these systems with a 10-year future target of a near one kilogram space exploration vehicle that contains each of these systems. In order to accomplish this task, each system was investigated independently in order to establish the power requirements/limitations while considering how each system affects the other systems. This was performed through numerous trade studies and experimental work, primarily focused around the power capacity of the microbial fuel cell base-lined for this project and how its strengths and limitations affected the design of the remaining onboard systems. Finally an end- to-end system test utilized a microbial fuel cell to charge a super capacitor through an energy harvesting circuit, which was discharged to activate a robotic locomotion system. Under review for public release by NRL Do not redistributed without consent of Gregory P. Scott iii Low Power Microrobotics Utilizing Biologically Inspired Energy Generation Table of Contents Abstract ......................................................................................................................................... iii Table of Contents ......................................................................................................................... iv Executive Summary ...................................................................................................................... 1 Introduction ................................................................................................................................... 3 Research Proposal ......................................................................................................................... 3 Project Plan ................................................................................................................................. 4 Proposed Milestones ................................................................................................................... 5 Related Research ......................................................................................................................... 5 Project Resources .......................................................................................................................... 6 Personnel ..................................................................................................................................... 6 Equipment and Facilities ............................................................................................................ 8 Electrical Power System (EPS) Development Lab ................................................................. 8 Laboratory for Microbial Electrochemistry ............................................................................ 9 Laboratory for Autonomous Systems Research (LASR) Littoral Lab ................................. 10 Phase I Results............................................................................................................................. 11 Microbial-based Energy Generation ......................................................................................... 12 Background Theory .............................................................................................................. 13 MFC Performance Evaluation .............................................................................................. 14 Conclusions ........................................................................................................................... 19 Low Power Electronics ............................................................................................................. 19 Analysis Energy Harvesting Circuit ..................................................................................... 20 Simulation of the full system electrical model...................................................................... 21 Evaluation of Energy Storage Technologies ......................................................................... 23 Conclusions ........................................................................................................................... 25 Biologically Inspired Locomotion ............................................................................................ 25 Mechanism Considerations ................................................................................................... 26 Environmental Considerations .............................................................................................. 26 Actuator Designs ................................................................................................................... 27 Conclusions ........................................................................................................................... 39 System-level Advancements ..................................................................................................... 40 Conclusions ........................................................................................................................... 43 Phase I Accomplishments ........................................................................................................... 43 Project Conclusions and Future Work ..................................................................................... 45 References and Citations ............................................................................................................ 47 Appendix A – Final Experimental Setup .................................................................................. 48 Under review for public release by NRL Do not redistributed without consent of Gregory P. Scott iv Low Power Microrobotics Utilizing Biologically Inspired Energy Generation Executive Summary Background In the past decade, more than $10M has been invested in the development of “waste-to-energy” research at the NRL and the focus of harnessing the energy from microbial sources. In addition, nearly $30M in research funding has been awarded to space robotics research, including the development of space qualified actuators, mechanisms and electronics. Considering the extensive research experience in these areas, a team was assembled at the NRL to investigate low power microrobotic systems powered by microbial fuel cells. The Primary Investigator for this program (Dr. Gregory P. Scott) was awarded the NRL’s Karles’ Fellowship in 2010 totaling nearly $250k towards the investigation of novel space robotics research including low power microrobotics, manipulator development, and robotic control systems. Utilizing a portion of this funding, he began investigating and developing initial proposals for small robotic systems technology maturity. One of the most significant areas where research advancement is required in the field of microrobotic systems is with regards to power generation and distribution. Looking into alternative and far-out technology options for remedying this problem, he began to investigate the consideration of microbial fuel cells as the primary power generation system for a robotic system along with program co-investigator Dr. Leonard Tender, a subject matter expert in waste-to-energy research. One significant problem with using a microbial fuel cell for power generation is the exceptionally low constant power availability of these systems, especially at the lower masses and volumes required by microrobotic systems (in the very low milliwatts). Therefore, a paradigm shift in the approach to onboard microelectronics would also be required to utilize this technology. Further discussion with Dr. Stephen Arnold, subject matter expert in spacecraft electronics, led to the consideration of a multi-tiered approach to powering the onboard electronics, while also actively working to reduce the electrical requirements of the onboard components themselves. From this initial investigation and utilizing the expertise of this team and others, a research project was awarded by the NASA NIAC program office to investigate low power microrobotic systems utilizing biologically inspired energy generation. Accomplishments and Significance The team conducted many experiments and accomplished several goals during the execution of this project. These accomplishments were made in three distinct research areas: Low power mobility systems for robot locomotion on planetary surfaces; electronics with low power requirements for core robot control functionality; biologically-inspired power generation techniques for long duration
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